Decentralized Algorithms for Weapon-Target Assignment in Swarming Combat System

Figure 4

A swap loop is found on graph . The dark node denotes the source node, and the shaded nodes denote the nodes on the loop (possibly temporarily); the shaded edges denote the spanning tree of searching for a swap loop. The solid edges denote its weight (see the value beside the edge), and the dashed edges denote . The value in the node is the shortest distance from the source. (a)–(e) show the process of searching for a swap loop on graph by using the Dijkstra algorithm. (e) The edge from to with closes the loop, and the total weights on the loop is . (f) The new assignment after exchanging tasks.

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